Sensors::Imagenex837B::Task Struct Reference

Detailed Description

Task.

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onResourceInitialization (void)
void	onResourceRelease (void)
void	onRequestActivation (void)
void	onActivation (void)
void	onDeactivation (void)
void	checkActivationProgress (void)
void	openLog (const Path &path)
void	closeLog (void)
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::LoggingControl *msg)
void	consume (const IMC::SoundSpeed *msg)
unsigned	getIndex (unsigned value, const unsigned *table, unsigned table_size)
void	setFrequency (void)
void	setRange (unsigned value)
void	setStartGain (unsigned value)
void	setSwitchDelay (unsigned value)
void	setAbsorption (unsigned value)
void	setDataPoints (unsigned value)
void	setAutoMode (bool auto_mode)
void	setNadirAngle (float angle)
void	setAutoGainValue (unsigned value)
void	ping (unsigned data_point)
void	handleSonarData (void)
void	updateState (void)
void	checkAltitude (void)
void	task (void)

Public Attributes
TCPSocket *	m_sock
Frame	m_frame
uint8_t	m_sdata [c_sdata_size]
uint8_t	m_rdata_hdr [c_rdata_hdr_size]
uint8_t	m_rdata_ftr [c_rdata_ftr_size]
IMC::SonarData	m_ping
IMC::EstimatedState	m_estate
std::ofstream	m_log_file
Path	m_log_path
IMC::PowerChannelControl	m_power_channel_control
Counter< double >	m_countdown
Counter< double >	m_range_counter
Arguments	m_args

Constructor & Destructor Documentation

Sensors::Imagenex837B::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

Constructor.

References Sensors::Imagenex837B::Arguments::absorption, Sensors::Imagenex837B::Arguments::addr, Sensors::Imagenex837B::Arguments::auto_gain, Sensors::Imagenex837B::Arguments::auto_gain_value, Sensors::Imagenex837B::Arguments::data_points, Sensors::Imagenex837B::Arguments::def_range, Sensors::Imagenex837B::Arguments::file_name_837, Sensors::Imagenex837B::Arguments::fill_state, m_args, m_ping, m_sdata, Sensors::Imagenex837B::Arguments::nadir, Sensors::Imagenex837B::Arguments::offset, Sensors::Imagenex837B::Arguments::port, Sensors::Imagenex837B::Arguments::power_channel, Sensors::Imagenex837B::Arguments::range_modifier, Sensors::Imagenex837B::Arguments::range_modifier_add_k, Sensors::Imagenex837B::Arguments::range_modifier_mul_k, Sensors::Imagenex837B::Arguments::range_modifier_timer, Sensors::Imagenex837B::Arguments::save_to_file, setFrequency(), Sensors::Imagenex837B::Arguments::start_gain, Sensors::Imagenex837B::Arguments::switch_delay, Sensors::Imagenex837B::Arguments::tilt_angle, and Sensors::Imagenex837B::Arguments::xdcr.

Member Function Documentation

void Sensors::Imagenex837B::Task::checkActivationProgress ( void  )

inline

References Sensors::Imagenex837B::Arguments::addr, DUNE::Time::Counter< T >::getRemaining(), m_args, m_countdown, m_sock, DUNE::Time::Counter< T >::overflow(), and Sensors::Imagenex837B::Arguments::port.

Referenced by task().

void Sensors::Imagenex837B::Task::checkAltitude ( void  )

inline

Check current water column.

References m_args, m_estate, Sensors::Imagenex837B::Arguments::range_modifier_add_k, Sensors::Imagenex837B::Arguments::range_modifier_mul_k, and setRange().

Referenced by task().

void Sensors::Imagenex837B::Task::closeLog ( void  )

inline

References m_log_file, and m_log_path.

Referenced by consume(), onDeactivation(), onResourceInitialization(), and openLog().

void Sensors::Imagenex837B::Task::consume ( const IMC::EstimatedState *  msg )

inline

References m_estate.

void Sensors::Imagenex837B::Task::consume ( const IMC::LoggingControl *  msg )

inline

References closeLog(), Sensors::Imagenex837B::Arguments::file_name_837, m_args, openLog(), and Sensors::Imagenex837B::Arguments::save_to_file.

void Sensors::Imagenex837B::Task::consume ( const IMC::SoundSpeed *  msg )

inline

References m_frame, and Sensors::Imagenex837B::Frame::setSoundVelocity().

unsigned Sensors::Imagenex837B::Task::getIndex ( unsigned  value, const unsigned *  table, unsigned  table_size  )

inline

Get index from table according with given value.

Parameters

[in]	value	value to be checked in the table.
[in]	table	vector with parameters.
[in]	table_size	size of the vector.

Returns

index of the vector.

Referenced by setRange().

void Sensors::Imagenex837B::Task::handleSonarData ( void  )

inline

Handle sonar data to 837 file format.

References Sensors::Imagenex837B::Frame::getData(), Sensors::Imagenex837B::Frame::getSize(), m_frame, m_log_file, m_rdata_hdr, Sensors::Imagenex837B::Frame::setDateTime(), Sensors::Imagenex837B::Frame::setFirmwareVersion(), Sensors::Imagenex837B::Frame::setSerialStatus(), and updateState().

Referenced by task().

void Sensors::Imagenex837B::Task::onActivation ( void  )

inline

void Sensors::Imagenex837B::Task::onDeactivation ( void  )

inline

References closeLog(), m_power_channel_control, and m_sock.

void Sensors::Imagenex837B::Task::onRequestActivation ( void  )

inline

References m_countdown, m_power_channel_control, and DUNE::Time::Counter< T >::reset().

void Sensors::Imagenex837B::Task::onResourceInitialization ( void  )

inline

References closeLog().

void Sensors::Imagenex837B::Task::onResourceRelease ( void  )

inline

void Sensors::Imagenex837B::Task::onUpdateParameters ( void  )

inline

Update task parameters.

References Sensors::Imagenex837B::Arguments::absorption, Sensors::Imagenex837B::Arguments::addr, Sensors::Imagenex837B::Arguments::auto_gain, Sensors::Imagenex837B::Arguments::auto_gain_value, Sensors::Imagenex837B::Arguments::data_points, Sensors::Imagenex837B::Arguments::def_range, Sensors::Imagenex837B::Arguments::fill_state, m_args, m_countdown, m_frame, m_ping, m_power_channel_control, m_range_counter, Sensors::Imagenex837B::Arguments::nadir, Sensors::Imagenex837B::Arguments::port, Sensors::Imagenex837B::Arguments::power_channel, Sensors::Imagenex837B::Arguments::range_modifier, Sensors::Imagenex837B::Arguments::range_modifier_timer, setAbsorption(), setAutoGainValue(), setAutoMode(), setDataPoints(), setNadirAngle(), Sensors::Imagenex837B::Frame::setProfileTiltAngle(), setRange(), setStartGain(), setSwitchDelay(), DUNE::Time::Counter< T >::setTop(), Sensors::Imagenex837B::Arguments::start_gain, Sensors::Imagenex837B::Arguments::switch_delay, and Sensors::Imagenex837B::Arguments::tilt_angle.

void Sensors::Imagenex837B::Task::openLog ( const Path &  path )

inline

References closeLog(), m_log_file, and m_log_path.

Referenced by consume().

void Sensors::Imagenex837B::Task::ping ( unsigned  data_point )

inline

Request device to ping.

Parameters

[in]

data_point

data index.

References Sensors::Imagenex837B::Frame::getMessageData(), m_args, m_frame, m_ping, m_rdata_ftr, m_rdata_hdr, m_sdata, m_sock, Sensors::Imagenex837B::Arguments::save_to_file, and Sensors::Imagenex837B::SD_PACKET_NUM.

Referenced by task().

void Sensors::Imagenex837B::Task::setAbsorption ( unsigned  value )

inline

Define switch command data absorption value.

Parameters

[in]

value

absorption value.

References m_sdata, and Sensors::Imagenex837B::SD_ABSORPTION.

Referenced by onUpdateParameters().

void Sensors::Imagenex837B::Task::setAutoGainValue ( unsigned  value )

inline

Define switch command data auto gain threshold.

Parameters

[in]

value

auto gain threshold.

References m_sdata, and Sensors::Imagenex837B::SD_AGC_THRESHOLD.

Referenced by onUpdateParameters().

void Sensors::Imagenex837B::Task::setAutoMode ( bool  auto_mode )

inline

Define switch command data auto mode.

References m_sdata, and Sensors::Imagenex837B::SD_RUN_MODE.

Referenced by onUpdateParameters().

void Sensors::Imagenex837B::Task::setDataPoints ( unsigned  value )

inline

Define switch command data number of data points.

Parameters

[in]

value

number of data points.

References m_frame, m_sdata, Sensors::Imagenex837B::SD_DATA_POINTS, and Sensors::Imagenex837B::Frame::setExtendedDataPoints().

Referenced by onUpdateParameters().

void Sensors::Imagenex837B::Task::setFrequency ( void  )

inline

Define switch command data frequency value.

References m_ping, m_sdata, and Sensors::Imagenex837B::SD_FREQUENCY.

Referenced by Task().

void Sensors::Imagenex837B::Task::setNadirAngle ( float  angle )

inline

Define switch command data number nadir angle.

Parameters

[in]

angle

nadir angle.

References m_args, m_frame, m_sdata, Sensors::Imagenex837B::SD_NADIR_HI, Sensors::Imagenex837B::SD_NADIR_LO, Sensors::Imagenex837B::Frame::setDisplayMode(), and Sensors::Imagenex837B::Arguments::xdcr.

Referenced by onUpdateParameters(), and updateState().

void Sensors::Imagenex837B::Task::setRange ( unsigned  value )

inline

Define switch command data range.

Parameters

[in]

value

range.

References getIndex(), m_frame, m_ping, m_sdata, Sensors::Imagenex837B::SD_PULSE_LEN, Sensors::Imagenex837B::SD_RANGE, Sensors::Imagenex837B::Frame::setPulseLength(), Sensors::Imagenex837B::Frame::setRange(), and Sensors::Imagenex837B::Frame::setRepRate().

Referenced by checkAltitude(), and onUpdateParameters().

void Sensors::Imagenex837B::Task::setStartGain ( unsigned  value )

inline

Define switch command data start gain.

Parameters

[in]

value

start gain.

References m_frame, m_sdata, Sensors::Imagenex837B::SD_START_GAIN, and Sensors::Imagenex837B::Frame::setStartGain().

Referenced by onUpdateParameters().

void Sensors::Imagenex837B::Task::setSwitchDelay ( unsigned  value )

inline

Define switch command data switch delay.

Parameters

[in]

value

switch delay.

References m_sdata, and Sensors::Imagenex837B::SD_SWITCH_DELAY.

Referenced by onUpdateParameters().

void Sensors::Imagenex837B::Task::task ( void  )

inline

References checkActivationProgress(), checkAltitude(), Sensors::Imagenex837B::Arguments::data_points, handleSonarData(), m_args, m_ping, m_range_counter, m_sock, DUNE::Time::Counter< T >::overflow(), ping(), Sensors::Imagenex837B::Arguments::range_modifier, DUNE::Time::Counter< T >::reset(), and Sensors::Imagenex837B::Arguments::save_to_file.

void Sensors::Imagenex837B::Task::updateState ( void  )

inline

Update vehicle state in 837 files.

References Sensors::Imagenex837B::Arguments::fill_state, m_args, m_estate, m_frame, Sensors::Imagenex837B::Arguments::nadir, Sensors::Imagenex837B::Arguments::offset, Sensors::Imagenex837B::Frame::setCourse(), Sensors::Imagenex837B::Frame::setGpsData(), Sensors::Imagenex837B::Frame::setHeading(), setNadirAngle(), Sensors::Imagenex837B::Frame::setPitch(), Sensors::Imagenex837B::Frame::setRoll(), and Sensors::Imagenex837B::Frame::setSpeed().

Referenced by handleSonarData().

Member Data Documentation

Arguments Sensors::Imagenex837B::Task::m_args

Configuration parameters.

Referenced by checkActivationProgress(), checkAltitude(), consume(), onUpdateParameters(), ping(), setNadirAngle(), Task(), task(), and updateState().

Counter<double> Sensors::Imagenex837B::Task::m_countdown

Activation/deactivation timer.

Referenced by checkActivationProgress(), onRequestActivation(), and onUpdateParameters().

IMC::EstimatedState Sensors::Imagenex837B::Task::m_estate

Estimated state.

Referenced by checkAltitude(), consume(), and updateState().

Frame Sensors::Imagenex837B::Task::m_frame

837 Frame.

Referenced by consume(), handleSonarData(), onUpdateParameters(), ping(), setDataPoints(), setNadirAngle(), setRange(), setStartGain(), and updateState().

std::ofstream Sensors::Imagenex837B::Task::m_log_file

Log file.

Referenced by closeLog(), handleSonarData(), and openLog().

Path Sensors::Imagenex837B::Task::m_log_path

Log filename.

Referenced by closeLog(), and openLog().

IMC::SonarData Sensors::Imagenex837B::Task::m_ping

Single sidescan ping.

Referenced by onUpdateParameters(), ping(), setFrequency(), setRange(), Task(), and task().

IMC::PowerChannelControl Sensors::Imagenex837B::Task::m_power_channel_control

Power channel control.

Referenced by onDeactivation(), onRequestActivation(), and onUpdateParameters().

Counter<double> Sensors::Imagenex837B::Task::m_range_counter

Range adaptive modifier counter.

Referenced by onUpdateParameters(), and task().

uint8_t Sensors::Imagenex837B::Task::m_rdata_ftr[c_rdata_ftr_size]

Footer Return data.

Referenced by ping().

uint8_t Sensors::Imagenex837B::Task::m_rdata_hdr[c_rdata_hdr_size]

Header Return data.

Referenced by handleSonarData(), and ping().

uint8_t Sensors::Imagenex837B::Task::m_sdata[c_sdata_size]

Output switch data.

Referenced by ping(), setAbsorption(), setAutoGainValue(), setAutoMode(), setDataPoints(), setFrequency(), setNadirAngle(), setRange(), setStartGain(), setSwitchDelay(), and Task().

TCPSocket* Sensors::Imagenex837B::Task::m_sock

TCP socket.

Referenced by checkActivationProgress(), onDeactivation(), ping(), and task().

Collaboration diagram for Sensors::Imagenex837B::Task: